Test: Add IPC test service

This is the first version for IPC secure function test service:
- Only psa_wait_any(), psa_get(), psa_read(), psa_write() and
  psa_end() are used now.
- Only support "block" mode for psa_wait_any()
Note:
- Remaining PSA functions TBD
- "Poll" mode for psa_wait_any() TBD

Change-Id: I882716075b9c92839d41372df355c364d24d7574
Signed-off-by: Edison Ai <edison.ai@arm.com>
3 files changed